JP7292752B2 - Assembly equipment and adjustment method for assembly equipment - Google Patents

Description

The present invention relates to an assembling apparatus and an adjusting method for the assembling apparatus.

2. Description of the Related Art There is used an assembling apparatus that has moving mechanisms in three directions perpendicular to each other and that uses a hand attached to one of the moving mechanisms to assemble a plurality of parts. By way of example, such assembly equipment is used to perform the assembly of lenses and barrels. When assembling the lens and barrel, the position of the lens is confirmed by the camera attached to the hand, the lens is grasped by the hand, the position of the barrel is confirmed by the camera attached to the hand, and the hand is moved to the barrel. , and insert the lens into the barrel so that the central axes of the lens and the barrel are aligned. When inserting a lens into a barrel, if the central axes of the lens and barrel do not match, the inner diameter of the barrel is made larger than the outer diameter of the lens according to the maximum possible distance between the central axes. It is not preferable because it is necessary and the lens barrel becomes large. Especially when the outer diameter of the lens is small, the influence of the distance between the central axes becomes large. For example, if the outer diameter of the lens is 1 millimeter, the distance between the central axes of 10 micrometers corresponds to 1% of the outer diameter of the lens. For this reason, it is preferable to increase the accuracy of alignment with respect to the positions of the lens and lens barrel of the hand and to minimize the distance between the central axes.

Patent Document 1 discloses a method for aligning a robot arm using a camera. However, Patent Literature 1 does not refer to improving the accuracy of the alignment method using a camera.

Thus, an assembling apparatus that has moving mechanisms in three orthogonal directions and that can assemble a plurality of parts with high accuracy using a hand attached to one of the moving mechanisms, and such an assembling apparatus. adjustment method has not been developed.

Japanese Patent Publication No. 2015-530276

Therefore, an assembling apparatus which is equipped with moving mechanisms in three orthogonal directions and can perform highly accurate assembly of a plurality of parts using a hand attached to one of the moving mechanisms, and adjustment of such an assembling apparatus There is a need for methods. SUMMARY OF THE INVENTION An object of the present invention is to provide an assembling apparatus that has moving mechanisms in three orthogonal directions and that can assemble a plurality of parts with high precision using a hand attached to one of the moving mechanisms. Another object of the present invention is to provide a method for adjusting an assembly device.

An assembling apparatus according to a first aspect of the present invention comprises an x-axis moving mechanism, a y-axis moving mechanism, a z-axis moving mechanism, and a workpiece attached to the z-axis moving mechanism so as to be movable in the z-axis direction. a hand for moving, a base having a surface parallel to the x-axis and the y-axis, a first camera attached to the z-axis movement mechanism so that the optical axis is in the z-axis direction, and an optical axis a second camera mounted on the base such that is in the z-axis direction.

According to the assembling apparatus of this aspect, the coordinates of the position of the hand can be determined with high accuracy using the first camera and the second camera, so that it is possible to assemble a plurality of parts with high accuracy. can.

In the assembly apparatus according to the first embodiment of the first aspect of the present invention, the first and second cameras are rotatable about their respective optical axes.

According to this embodiment, since the first and second cameras are configured to be rotatable around their respective optical axes, the positions of the cameras can be easily adjusted.

A method for adjusting an assembling apparatus according to a second aspect of the present invention comprises an x-axis movement mechanism, a y-axis movement mechanism, a z-axis movement mechanism, and an x-axis movement mechanism attached to the z-axis movement mechanism so as to be movable in the z-axis direction. a hand for holding a work, a base having a surface parallel to the x-axis and the y-axis, and a first camera attached to the z-axis movement mechanism so that the optical axis is in the z-axis direction , a second camera mounted on the base such that the optical axis is along the z-axis, wherein the image of the second camera is used to determine the x-axis Positioning the second camera such that movement of the movement mechanism is in the x-axis direction of the second camera image and movement of the y-axis movement mechanism is in the y-axis direction of the second camera image. and positioning an alignment mark consisting of first and second lines perpendicular to each other between the first camera and the second camera such that the first and second lines are on the assembly apparatus. perpendicular to the z-axis and one of the first and second lines in the direction of one of the x-axis and the y-axis of the image of the second camera; of the first camera such that one of the first line and the second line is in the direction of one of the x-axis and the y-axis of the first camera's image using the image of the camera of adjusting the position of the first line and the second line relative to the intersection of the x-axis and the y-axis of the first camera image using the first camera image; determining a first set of coordinates for line intersections; and using the second camera image to determine reference points for the hand relative to the intersections of the first line and the second line. determining the reference point of the hand relative to the intersection of the x-axis and the y-axis of the first camera image from the first and second sets of coordinates; defining a third set of coordinates.

According to the assembly apparatus adjustment method of this aspect, the coordinates of the position of the reference point of the hand can be determined with high accuracy using the images of the first camera and the second camera. Accurate assembly can be performed.

In the method for adjusting the assembly apparatus according to the first embodiment of the second aspect of the present invention, in the step of adjusting the position of the second camera, the position between the x-axis and the y-axis of the assembly apparatus Adjust relationships.

According to this embodiment, it is confirmed that the x-axis movement mechanism and the y-axis movement mechanism are orthogonal to each other, and if they are not orthogonal, the angle between them is adjusted so that they are orthogonal. It is possible to reduce the error of the coordinates of the position of the reference point of the hand due to the fact that the axis and the y-axis are not orthogonal.

In a method for adjusting an assembling apparatus according to a second embodiment of the second aspect of the present invention, the step of adjusting the position of the second camera and the positional relationship between the x-axis and the y-axis of the assembling apparatus but using the image of the second camera, move the second camera such that the movement of one of the x-axis movement mechanism and the y-axis movement mechanism is in the direction of the corresponding axis of the second camera and using the image of the second camera, the movement of the other of the x-axis movement mechanism and the y-axis movement mechanism is in the direction of the corresponding axis of the second camera. and adjusting the positional relationship between the x-axis and the y-axis of the assembly device such that:

In the assembly apparatus adjustment method according to the third embodiment of the second aspect of the present invention, in the step of setting the alignment mark, the intersection of the first and second lines in the image of the second camera is The alignment mark is placed to coincide with the intersection of the x-axis and the y-axis of the image of the second camera.

According to this embodiment, it becomes easier to process the image of the second camera.

In a method for adjusting an assembling apparatus according to a fourth embodiment of the second aspect of the present invention, the x-axis and the y-axis of the image of the first camera intersect at the center of the image of the first camera, The x-axis and the y-axis of the second camera image intersect at the center of the second camera image.

According to this embodiment, the coordinates of the camera image are easier to understand.

A method for adjusting an assembling apparatus according to a third aspect of the present invention comprises an x-axis movement mechanism, a y-axis movement mechanism, a z-axis movement mechanism, and an x-axis movement mechanism attached to the z-axis movement mechanism so as to be movable in the z-axis direction. a hand for holding a work, a base having a surface parallel to the x-axis and the y-axis, and a first camera attached to the z-axis movement mechanism so that the optical axis is in the z-axis direction , and a second camera mounted on the base so that its optical axis is in the z-axis direction, wherein an image of the second camera includes x-axis and y-axis a step of moving the hand by the x-axis moving mechanism and the y-axis moving mechanism so that the intersection point and the reference point of the hand match, and storing the position coordinates after the movement as (Xc, Yc); a step of moving the hand to position coordinates (Xc, Yc) by the x-axis movement mechanism and the y-axis movement mechanism while holding the hand; determining the difference between the coordinates of the reference point of the hand and the coordinates of the reference point of the work by determining the coordinates of the reference point of the work with respect to the intersection.

According to the adjustment method of the assembling apparatus of this aspect, the image of the second camera is used to obtain the difference between the coordinates of the reference point of the hand and the coordinates of the reference point of the work while the hand is holding the work. Therefore, highly accurate assembly of workpieces and other parts can be performed.

1 is a perspective view of an assembly device according to one embodiment of the present invention; FIG. 1 is a side view of an assembly device according to one embodiment of the present invention; FIG. It is a figure which shows the cross section containing the central axis of a chuck. 3 is a flow chart for explaining the work of attaching the lens placed on the workbench 3 to the lens barrel by the assembling device. 6 is a diagram showing a cross section including the central axis of the lens and the lens barrel in a state where the (x, y) coordinates of the center of the chuck and the (x, y) coordinates of the center of the lens barrel 600 are aligned; FIG. It is a figure which shows the cross section containing the central axis of a lens and a lens-barrel in the state where the lens was inserted in the lens-barrel. 4 is a flowchart for explaining an adjustment method for determining the (x, y) coordinates of the center of the chuck in the image of the first camera in the assembling apparatus of the present invention; FIG. 8 is a flowchart for explaining step S2010 of FIG. 7; FIG. It is a figure which shows an example of an alignment mark. FIG. 8 is a flowchart for explaining step S2030 of FIG. 7; FIG. FIG. 5 is a flow chart for explaining how to determine the (x, y) coordinates of the center of the chuck in the image of the first camera in the conventional assembling apparatus; 4 is a flowchart for explaining a method of adjusting the assembling apparatus of the present invention;

FIG. 1 is a perspective view of an assembly device 100 according to one embodiment of the invention.

FIG. 2 is a side view of assembly apparatus 100 according to one embodiment of the present invention.

The assembly apparatus 100 includes an x-axis movement mechanism 101 that is a movement mechanism in the x-axis direction, a y-axis movement mechanism 103 that is a movement mechanism in the y-axis direction, and a z-axis movement mechanism 105 that is a movement mechanism in the z-axis direction. A hand 107 for holding a work is attached to a z-axis moving mechanism 105 so as to be movable in the z-axis direction. Movement in the z-axis direction may be implemented by a cylinder. The z-axis moving mechanism 105 is attached to the y-axis moving mechanism 103 so as to be movable in the y-axis direction. The y-axis moving mechanism 103 is attached to the x-axis moving mechanism 101 so as to be movable in the x-axis direction. The x-axis movement mechanism 101 is attached to the base 1000 via spacers 109 . A workbench 300 is installed on the base 1000 on which an object to be transported is placed. Therefore, the hand 107 can be moved in the x-axis, y-axis and z-axis directions with the base 1000 as a reference by the x-axis movement mechanism 101 , the y-axis movement mechanism 103 and the z-axis movement mechanism 105 . In this embodiment, the hand 107 is described as a suction chuck.

FIG. 3 is a diagram showing a cross section including the central axis of the chuck 107. As shown in FIG. The chuck 107 is provided with a suction unit 109 , and by evacuating air between the suction unit 109 and the work 500 through an air pipe 111 , the space between the suction unit 109 and the work 500 is evacuated, and the work 500 is moved to the suction unit 109 . fixed. The hand may be a mechanism other than a suction chuck, such as a mechanical mechanism.

A first camera 201 is attached to the main body of the z-axis movement mechanism 105 so that the direction of the optical axis coincides with the direction of the z-axis. The main body of the z-axis moving mechanism 105 refers to the part that holds the moving part that moves in the z-axis direction. A second camera 203 is installed on the base 1000 such that the direction of the optical axis coincides with the direction of the z-axis and is substantially opposed to the first camera 201 . The first camera 201 and the second camera 203 are preferably mounted so as to be rotatable about the optical axis. For example, it may be mounted on a rotationally adjustable rotary stage. In addition, it is also possible to use a tilt stage in combination with which the tilt of the surface on which the camera is mounted can be adjusted.

Next, as an example, the operation of attaching the lens 500 placed on the workbench 300 to the lens barrel 600 placed on the workbench 300 by the assembly apparatus 100 will be described.

FIG. 4 is a flowchart for explaining the work of attaching the lens 500 placed on the workbench 300 to the lens barrel 600 by the assembling apparatus 100. As shown in FIG.

In step S1010 of FIG. 4, using the image of the first camera 201, the x-axis The chuck 107 is moved by the moving mechanism 101 and the y-axis moving mechanism 103 .

In step S1020 of FIG. 4, the chuck 107 is moved by the z-axis movement mechanism 105 so that the chuck 107 contacts the surface of the lens 500. FIG.

In step S1030 in FIG. 4, a vacuum is created between the suction portion 109 of the chuck 107 and the lens 500, and the lens is fixed to the chuck 107. FIG.

At step S1040 in FIG. 4, the z-axis moving mechanism 105 moves the chuck 107 to a predetermined height.

In step S1050 of FIG. 4, using the image of the first camera 201, the x The chuck 107 is moved by the axial movement mechanism 101 and the y-axis movement mechanism 103 .

FIG. 5 is a diagram showing a cross section including the central axis of the lens 500 and the lens barrel 600 when the (x, y) coordinates of the center of the chuck 107 and the (x, y) coordinates of the center of the lens barrel 600 are aligned. is. In FIG. 5, the central axes of the lens 500 and the barrel 600 are indicated by dashed lines.

In step S1060 in FIG. 4, the vacuum state between the chuck 107 and the lens 500 is released to release the lens 500 from the chuck 107, and the lens 500 is inserted into the barrel 600. FIG. After that, the lens 500 is fixed to the lens barrel 600 with an adhesive, a screw type retainer, or the like.

FIG. 6 is a diagram showing a cross section including the central axis of the lens 500 and the lens barrel 600 with the lens 500 inserted into the lens barrel 600. As shown in FIG.

したがって、考えられる中心軸誤差の最大値Ｔが大きくなれば鏡筒６００の中心軸に垂直な断面の外径Ｄｂが大きくなり、鏡筒６００が大型化するので好ましくない。In FIG. 5, it is desirable that the central axis of the lens 500 and the central axis of the lens barrel 600 match. However, in practice, there may be a predetermined distance between the central axis of lens 500 and the central axis of barrel 600 . The distance between the central axis of the lens 500 and the central axis of the lens barrel 600 is called the central axis error in this specification. The lens barrel 600 has a tapered outer wall so that the lens 500 can be accommodated even if there is a central axis error. The minimum inner diameter of tapered portion 601 of barrel 600 is equal to the outer diameter of lens 500 . The maximum inner diameter of the tapered portion of the lens barrel 600 is the above minimum inner diameter plus twice the maximum conceivable central axis error T. FIG. On the other hand, the minimum value of the outer wall thickness of the lens barrel 600 must be greater than or equal to the predetermined value Wmin. The value Db of the outer diameter of the cross section perpendicular to the central axis of the lens barrel 600 is the value Dl of the outer diameter of the lens 500, twice the maximum conceivable center error value T, and the minimum value of the outer wall thickness of the lens barrel 600. It is the sum of two times Wmin and can be expressed by the following equation.

Therefore, if the maximum value T of the conceivable central axis error increases, the outer diameter Db of the cross section perpendicular to the central axis of the lens barrel 600 increases, and the lens barrel 600 becomes large, which is not preferable.

The cause of the central axis error is considered below. In step S1010 of FIG. 4, using the image of the first camera 201, the hand 107 is moved so that the (x, y) coordinates of the center of the chuck 107 match the (x, y) coordinates of the center of the lens 500. move. Here, if the (x, y) coordinates of the center of the chuck 107 match the (x, y) coordinates of the center of the lens 500, the center axis of the chuck 107 and the center axis of the lens 500 should match. Further, in step S1050 of FIG. 4, the image of the first camera 201 is used so that the (x, y) coordinates of the center of the chuck 107 match the (x, y) coordinates of the center of the lens barrel 600. Move the chuck 107 . Here, if the (x, y) coordinates of the center of the chuck 107 match the (x, y) coordinates of the center of the lens barrel 600, the central axis of the chuck 107 and the central axis of the lens barrel 600 should match. be. That is, the (x, y) coordinates of the center of the chuck 107 match the (x, y) coordinates of the center of the lens 500 , and the (x, y) coordinates of the center of the chuck 107 match the (x, y) coordinates of the center of the lens barrel 600 . y) If they match the coordinates, the center axis of the lens and the center axis of the lens barrel 600 should match and no center axis error should occur. Therefore, one of the major causes of central axis error is considered to be the error in the (x, y) coordinates of the center of chuck 107 in the image of the first camera.

How to determine the (x, y) coordinates of the center of the chuck in the image of the first camera of the conventional assembly apparatus will be described below. The conventional assembling apparatus is the same as the assembling apparatus 100 described above except that it includes a second camera 203 and the first camera 201 is rotatably mounted around the optical axis.

FIG. 11 is a flowchart for explaining how to determine the (x, y) coordinates of the center of the chuck in the image of the first camera in the conventional assembling apparatus.

In step S5010 of FIG. 11, the coordinates of the center of the lens are determined with reference to the center of the image of the first camera by the image of the first camera when the chuck is in the reference position.

In step S5020 of FIG. 11, the chuck is moved to the center of the lens so that the central axis of the chuck and the central axis of the lens are aligned, and the difference in coordinates corresponding to the movement of the chuck is determined. It is visually confirmed, for example, that the central axis of the chuck and the central axis of the lens match.

In step S5030 of FIG. 11, the coordinates of the center of the chuck with respect to the center of the image of the first camera are determined from the coordinates of the center of the lens and the difference between the coordinates.

How to determine the (x, y) coordinates of the center of the chuck 109 in the image of the first camera 201 of the assembling apparatus 100 of the present invention will be described below. The center of the chuck 109 corresponds to the reference point of the hand in the claims.

FIG. 7 is a flowchart for explaining an adjustment method for determining the (x, y) coordinates of the center of the chuck 107 in the image of the first camera 201 in the assembly apparatus 100 of the present invention.

In step S2010 of FIG. 7, the image of the second camera 203 is used to adjust the position of the second camera 203 and the position of the x-axis movement mechanism or the y-axis movement mechanism.

The first camera 201 is attached to the z-axis movement mechanism 105 so that the direction of the optical axis matches the direction of the z-axis as described above. The second camera 203 is attached to the base 1000 such that the direction of the optical axis matches the direction of the z-axis and substantially faces the first camera 201 when the chuck 107 is at the reference position. The number of pixels of the sensors of the first camera 201 and the second camera 203 is, for example, 4000×3000 (=12M) pixels. 0 mm.

FIG. 8 is a flowchart for explaining step S2010 of FIG.

In step S3010 of FIG. 8, one direction of the x-axis and y-axis of the assembly apparatus 100 in the image of the second camera 203 corresponds to the direction of the x-axis and the y-axis of the image of the second camera 203. Adjust the position of the second camera 203 so that it matches with . Specifically, the chuck 107 is moved along one of the x-axis movement mechanism and the y-axis movement mechanism so as to match the direction of the corresponding one of the x-axis and the y-axis of the image of the second camera 203. Alternatively, the position of the second camera 203 may be adjusted by rotating it around the central axis using a rotating stage.

Here, the x-axis and y-axis of the image of the camera mean two directions perpendicular to the optical axis of the camera and orthogonal to each other. The x-axis and y-axis are defined to intersect on the optical axis of the camera. Therefore, in the camera image, the intersection of the x-axis and the y-axis is located in the center of the image. The (x,y) coordinates of the camera image are defined according to the x and y axes of the camera image.

In step S3020 of FIG. 8, the other direction of the x-axis and y-axis of the assembly apparatus 100 in the image of the second camera 203 corresponds to the direction of the x-axis and y-axis of the image of the second camera 203. Adjust the position of the corresponding moving mechanism in the other direction so as to match the In this step, it is confirmed that the x-axis movement mechanism 101 and the y-axis movement mechanism 103 are orthogonal, and if they are not orthogonal, the angle between them is adjusted so that they are orthogonal. A screw or shim for angle adjustment may be provided in advance.

In step S2020 of FIG. 7, an alignment mark 400 is installed between the first camera 201 and the second camera 203. As shown in FIG.

FIG. 9 is a diagram showing an example of the alignment mark 400. As shown in FIG. The alignment mark 400 of this example consists of two lines perpendicular to each other drawn on a transparent flat plate. As shown in FIG. 1, a flat plate with alignment marks 400 may be attached to the workbench 300 . The position of the flat plate provided with the alignment mark 400 is parallel to the x-axis and y-axis of the assembly apparatus 100, and when the hand 107 is at the reference position, the alignment mark 400 is aligned with the first camera 201 attached to the z-axis movement mechanism 105. and within the field of view of the second camera 203 attached to the base 1000 . Also, the position of the flat plate having the alignment mark 400 is such that in the image of the second camera 203, the intersection of the two lines perpendicular to each other of the alignment mark 400 coincides with the center of the image, One of the lines is made to coincide with the x-axis or y-axis of the image of the second camera 203 .

The focus positions of the first camera 201 and the second camera 203 are assumed to be the position of the alignment mark 400 .

In step S<b>2030 in FIG. 7 , the position of first camera 201 is adjusted according to the image of first camera 201 . Specifically, in the image of the first camera 201, the first camera 201 is rotated around the optical axis by a rotating stage or the like so that one of the x-axis and the y-axis of the image matches the corresponding line of the alignment mark 400. rotate.

In step S2040 of FIG. 7, the first and second camera images are used to determine the coordinates of the center of the chuck 107 relative to the center of the first camera 201 image.

FIG. 10 is a flow chart for explaining step S2040 of FIG.

In step S4010 of FIG. 10, the image of the first camera 201 determines the first coordinates of the intersection of the alignment marks 400 with the center of the image of the first camera 201 as a reference.

In step S4020 of FIG. 10, a second coordinate of the center of chuck 107 with reference to the intersection of alignment marks 400 is determined by the image of second camera 203 .

In step S4030 of FIG. 10, the coordinates of the center of the chuck 107 with respect to the center of the image of the first camera 201 are determined from the first and second coordinates.

After determining the center coordinates of the chuck 107 by the adjustment method shown in FIG. 7, the lens 500 is attached to the lens barrel 600 according to the flow chart of FIG. 4, whereby highly accurate assembly can be performed.

FIG. 12 is a flowchart for explaining another adjustment method for the assembling apparatus 100 of the present invention. This adjustment method determines the coordinates of the center of the lens 500, which is the work, in the work shown in the flow chart of FIG. Steps S6020-S6050 in the flowchart of FIG. 12 correspond to steps S1010-S1040 in the flowchart of FIG. 4, and step S6090 in the flowchart of FIG. 12 corresponds to step S1060 in the flowchart of FIG.

In step S6010 in FIG. 12, the chuck 107 is moved by the x-axis moving mechanism 101 and the y-axis moving mechanism 103 so that the center of the image of the second camera 203 and the center of the chuck 107 are aligned. The position coordinates after movement are stored as (Xc, Yc). The positional coordinates are coordinates indicating the positions of the x-axis moving mechanism 101 and the y-axis moving mechanism 103 . Here, the center of the image is the intersection of the x-axis and y-axis of the image.

In step S6020 of FIG. 12, using the image of the first camera 201, the x-axis The chuck 107 is moved by the moving mechanism 101 and the y-axis moving mechanism 103 .

In step S6030 of FIG. 12, the chuck 107 is moved by the z-axis movement mechanism 105 so that the chuck 107 contacts the surface of the lens 500. FIG.

In step S6040 in FIG. 12, a vacuum is created between the suction portion 109 of the chuck 107 and the lens 500 to fix the lens to the chuck 107. In FIG.

At step S6050 in FIG. 12, the z-axis moving mechanism 105 moves the chuck 107 to a predetermined height.

At step S6060 in FIG. 12, the x-axis moving mechanism 101 and the y-axis moving mechanism 103 move the chuck 107 to the position coordinates (Xc, Yc).

In step S6070 of FIG. 12, the coordinates of the center of lens 500 in the image of second camera 203 are obtained. Since the center of the chuck 107 coincides with the center of the image of the second camera 203 at the position coordinates (Xc, Yc), the coordinates of the center of the lens 500 based on the center of the image of the second camera 203 are the coordinates of the chuck It corresponds to the difference between the coordinates of the center of 107 and the coordinates of the center of lens 500 .

In step S6080 of FIG. 12, using the image of the first camera 201, the x The chuck 107 is moved by the axial movement mechanism 101 and the y-axis movement mechanism 103 . At that time, the (x, y) coordinates of the center of the lens 500 can be determined with high accuracy due to the above coordinate difference.

12, the vacuum state between the chuck 107 and the lens 500 is released to release the lens 500 from the chuck 107, and the lens 500 is inserted into the lens barrel 600. FIG. After that, the lens 500 is fixed to the lens barrel 600 with an adhesive, a screw type retainer, or the like.

Since the difference between the coordinates of the center of the chuck and the coordinates of the center of the lens can be obtained by the adjustment method shown in FIG. Even if not, the center axis of the lens and the center axis of the lens barrel can be aligned with high accuracy.

According to the method of the invention, the maximum possible central error value T can be reduced by several tens of micrometers compared to the conventional method. If the outer diameter of lens 500 is 1-2 millimeters, the outer diameter of lens barrel 600 can be reduced by several percent.

Claims (6)

an x-axis movement mechanism;
a y-axis movement mechanism;
a z-axis movement mechanism;
a hand for holding a work attached to the z-axis moving mechanism so as to be movable in the z-axis direction;
a base having a surface parallel to the x-axis and the y-axis;
a first camera attached to the z-axis movement mechanism so that the optical axis is in the z-axis direction;
a second camera mounted on the base with an optical axis along the z-axis , wherein the first and second cameras are rotatable about their respective optical axes. Device. an x-axis movement mechanism;
a y-axis movement mechanism;
a z-axis movement mechanism;
a hand for holding a work attached to the z-axis moving mechanism so as to be movable in the z-axis direction;
a base having a surface parallel to the x-axis and the y-axis;
a first camera attached to the z-axis movement mechanism so that the optical axis is in the z-axis direction;
a second camera mounted on the base so that the optical axis is in the z-axis direction, and
Using the image of the second camera, the movement of the x-axis movement mechanism is in the x-axis direction of the image of the second camera, and the movement of the y-axis movement mechanism is of the image of the second camera. adjusting the position of the second camera to be in the direction of the y-axis;
an alignment mark consisting of first and second lines perpendicular to each other between the first camera and the second camera, the first and second lines being perpendicular to the z-axis of the assembly apparatus; and one of the first and second lines is in the direction of one of the x-axis and the y-axis of the image of the second camera;
Using the first camera's image, the first camera's image is used such that one of the first line and the second line is in the direction of one of the x-axis and y-axis of the first camera's image. adjusting the camera position of the
using the first camera image, a first line of intersection of the first line and the second line referenced to the intersection of the x-axis and the y-axis of the first camera image; defining a set of coordinates;
using the second camera image to define a second set of coordinates for a reference point of the hand relative to the intersection of the first line and the second line;
determining from the first and second sets of coordinates a third set of coordinates of the reference point of the hand relative to the intersection of the x-axis and the y-axis of the first camera image; A method of adjusting assembly equipment comprising: 3. The method of adjusting an assembling apparatus according to claim 2 , wherein the step of adjusting the position of the second camera also adjusts the positional relationship between the x-axis and the y-axis of the assembling apparatus. adjusting the position of the second camera and the positional relationship between the x-axis and the y-axis of the assembly apparatus;
using the image of the second camera, position the second camera such that movement of one of the x-axis movement mechanism and the y-axis movement mechanism is in the direction of the corresponding axis of the second camera; and a substep of adjusting
Using the image of the second camera, move the x-axis of the assembly machine such that the movement of the other of the x-axis movement mechanism and the y-axis movement mechanism is in the direction of the corresponding axis of the second camera. and adjusting the positional relationship between the y-axes. In the step of placing the alignment mark, the intersection of the first and second lines in the image of the second camera coincides with the intersection of the x-axis and the y-axis of the second camera image. 5. The method for adjusting an assembling apparatus according to claim 2, wherein said alignment mark is provided. The x-axis and the y-axis of the first camera image intersect at the center of the first camera image, and the x-axis and the y-axis of the second camera image are the second camera image. 6. The method for adjusting an assembling apparatus according to any one of claims 2 to 5, wherein the lines intersect at the center of .

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